Steven Kay / Mbed 2 deprecated Embedded_Software_Assignment_3

Example software of using the mbed-rtos to control a simple vehicle's on board computer

Dependencies:   MCP23017 WattBob_TextLCD mbed-rtos mbed

main.cpp@7:f09208f9a4f7, 2016-03-30 (annotated)

Committer:
sk398
Date:
Wed Mar 30 09:35:10 2016 +0000
Revision:
7:f09208f9a4f7
Parent:
6:572b9755f2c1
Child:
8:6fad4bd89240
All functions operating without issue. System fully tested.; ; Commenting to be done

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sk398 7:f09208f9a4f7 1 /* #####################################################################
sk398 7:f09208f9a4f7 2 main.cpp
sk398 7:f09208f9a4f7 3 ---------
sk398 7:f09208f9a4f7 4
sk398 7:f09208f9a4f7 5 Embedded Software - Assignment 3
sk398 7:f09208f9a4f7 6 --------------------------------
sk398 7:f09208f9a4f7 7
sk398 7:f09208f9a4f7 8 Written by: Steven Kay
sk398 7:f09208f9a4f7 9
sk398 7:f09208f9a4f7 10 Date: March 2016
sk398 7:f09208f9a4f7 11
sk398 7:f09208f9a4f7 12 Function: This is the main runner containing the Cyclic executive
sk398 7:f09208f9a4f7 13 There are 7 defined tasks and several Auxillary components
sk398 7:f09208f9a4f7 14 which are logically ran periodically at their required time
sk398 7:f09208f9a4f7 15 by a Cyclic Executive sequencer.
sk398 7:f09208f9a4f7 16 Ticks, or slots, to this Cyclic Executive are provided by
sk398 7:f09208f9a4f7 17 a ticker ever 25ms, and then using logical expressions, the
sk398 7:f09208f9a4f7 18 correct task is initiated and allocated the required time.
sk398 7:f09208f9a4f7 19
sk398 7:f09208f9a4f7 20 ##################################################################### */
sk398 7:f09208f9a4f7 21
sk398 0:f7d6ed1dfe3e 22 #include "mbed.h"
sk398 0:f7d6ed1dfe3e 23 #include "rtos.h"
sk398 4:b4bcb329a930 24 #include "MCP23017.h"
sk398 4:b4bcb329a930 25 #include "WattBob_TextLCD.h"
sk398 4:b4bcb329a930 26
sk398 7:f09208f9a4f7 27 // ============================================================================
sk398 7:f09208f9a4f7 28 // Define Statements
sk398 7:f09208f9a4f7 29 // ============================================================================
sk398 4:b4bcb329a930 30 #define BACK_LIGHT_ON(INTERFACE) INTERFACE->write_bit(1,BL_BIT)
sk398 4:b4bcb329a930 31 #define BACK_LIGHT_OFF(INTERFACE) INTERFACE->write_bit(0,BL_BIT)
sk398 4:b4bcb329a930 32
sk398 1:cdf851858518 33 #define TRUE 1
sk398 1:cdf851858518 34 #define FALSE 0
sk398 1:cdf851858518 35
sk398 2:13a9394ba2e0 36 #define HIGH 1
sk398 2:13a9394ba2e0 37 #define LOW 0
sk398 2:13a9394ba2e0 38
sk398 2:13a9394ba2e0 39 // ============================================================================
sk398 2:13a9394ba2e0 40 // MBED Pin Assignments
sk398 2:13a9394ba2e0 41 // ============================================================================
sk398 7:f09208f9a4f7 42
sk398 7:f09208f9a4f7 43 // System Inputs
sk398 7:f09208f9a4f7 44 AnalogIn Brake(p19); // Brake Pedal
sk398 7:f09208f9a4f7 45 AnalogIn Accelerometer(p20); // Accelerator Pedal
sk398 0:f7d6ed1dfe3e 46
sk398 7:f09208f9a4f7 47 DigitalIn EngineState(p18); // Engine State Switch
sk398 7:f09208f9a4f7 48 DigitalIn LeftIndicator(p17); // Left Indicator Switch
sk398 7:f09208f9a4f7 49 DigitalIn RightIndicator(p16); // Right Indicator Switch
sk398 7:f09208f9a4f7 50 DigitalIn SideLightIndicator(p15); // Side Light Indicator
sk398 7:f09208f9a4f7 51
sk398 1:cdf851858518 52
sk398 7:f09208f9a4f7 53 // System Outputs
sk398 7:f09208f9a4f7 54 DigitalOut EngineStateInd(LED1); // Engine State LED
sk398 7:f09208f9a4f7 55 DigitalOut SideLightInd(LED2); // Side Light LED
sk398 1:cdf851858518 56
sk398 7:f09208f9a4f7 57 PwmOut LeftLightInd(LED3); // Left Indicator LED
sk398 7:f09208f9a4f7 58 PwmOut RightLightInd(LED4); // Right Indicator LED
sk398 7:f09208f9a4f7 59 PwmOut OverSpeedInd(p22); // OverSpeed LED
sk398 2:13a9394ba2e0 60
sk398 7:f09208f9a4f7 61 PwmOut AvSpeedWiper(p21); // Average Speed Wiper
sk398 2:13a9394ba2e0 62
sk398 7:f09208f9a4f7 63 Serial PCConn(USBTX,USBRX); // Connection to PC
sk398 4:b4bcb329a930 64
sk398 7:f09208f9a4f7 65 MCP23017 *par_port; // Object pointing to Expander
sk398 7:f09208f9a4f7 66 WattBob_TextLCD *lcd; // LCD Connection
sk398 4:b4bcb329a930 67
sk398 2:13a9394ba2e0 68 // ============================================================================
sk398 2:13a9394ba2e0 69 // Global Data Structure Declerations
sk398 2:13a9394ba2e0 70 // ============================================================================
sk398 7:f09208f9a4f7 71
sk398 7:f09208f9a4f7 72
sk398 2:13a9394ba2e0 73 typedef struct
sk398 2:13a9394ba2e0 74 {
sk398 2:13a9394ba2e0 75 bool EngineState;
sk398 2:13a9394ba2e0 76 float RawAccelerometer;
sk398 2:13a9394ba2e0 77 float RawBraking;
sk398 2:13a9394ba2e0 78 } CarRawParams;
sk398 2:13a9394ba2e0 79
sk398 2:13a9394ba2e0 80 Mutex rawParamsMutex;
sk398 2:13a9394ba2e0 81 CarRawParams rawParams;
sk398 2:13a9394ba2e0 82
sk398 2:13a9394ba2e0 83
sk398 2:13a9394ba2e0 84 typedef struct
sk398 2:13a9394ba2e0 85 {
sk398 5:4f2a072ed289 86 float rawSpeed[3];
sk398 5:4f2a072ed289 87 int counter;
sk398 5:4f2a072ed289 88 } CarSpeed;
sk398 2:13a9394ba2e0 89
sk398 4:b4bcb329a930 90
sk398 5:4f2a072ed289 91 float lastSpeed;
sk398 5:4f2a072ed289 92 Mutex SpeedMutex;
sk398 5:4f2a072ed289 93 CarSpeed speedParams;
sk398 2:13a9394ba2e0 94
sk398 2:13a9394ba2e0 95
sk398 2:13a9394ba2e0 96 typedef struct
sk398 2:13a9394ba2e0 97 {
sk398 2:13a9394ba2e0 98 float AverageSpeed;
sk398 2:13a9394ba2e0 99 } CarFilteredParams;
sk398 2:13a9394ba2e0 100
sk398 2:13a9394ba2e0 101 Mutex filteredParamsMutex;
sk398 2:13a9394ba2e0 102 CarFilteredParams filteredParams;
sk398 2:13a9394ba2e0 103
sk398 5:4f2a072ed289 104 float totalDistance;
sk398 4:b4bcb329a930 105
sk398 7:f09208f9a4f7 106 typedef struct
sk398 7:f09208f9a4f7 107 {
sk398 7:f09208f9a4f7 108 float currentAverageSpeed;
sk398 7:f09208f9a4f7 109 float currentAccelerometer;
sk398 7:f09208f9a4f7 110 float currentBraking;
sk398 7:f09208f9a4f7 111 } PCDump_t;
sk398 7:f09208f9a4f7 112
sk398 7:f09208f9a4f7 113 Mail<PCDump_t,100> Memory_Dump;
sk398 7:f09208f9a4f7 114
sk398 7:f09208f9a4f7 115 Mutex MailMutex;
sk398 7:f09208f9a4f7 116 int MailQueueCounter;
sk398 7:f09208f9a4f7 117
sk398 2:13a9394ba2e0 118 // ============================================================================
sk398 2:13a9394ba2e0 119 // Car Simulation
sk398 2:13a9394ba2e0 120 // ============================================================================
sk398 2:13a9394ba2e0 121
sk398 2:13a9394ba2e0 122 void CarSimulator(void const *arg)
sk398 2:13a9394ba2e0 123 {
sk398 7:f09208f9a4f7 124 // PCConn.printf("CarSim\r\n");
sk398 5:4f2a072ed289 125
sk398 5:4f2a072ed289 126 float newSpeed;
sk398 5:4f2a072ed289 127
sk398 2:13a9394ba2e0 128 rawParamsMutex.lock();
sk398 2:13a9394ba2e0 129 float currentAccelerometer = rawParams.RawAccelerometer;
sk398 7:f09208f9a4f7 130 // PCConn.printf("A: %f\r\n",currentAccelerometer);
sk398 2:13a9394ba2e0 131 float currentBrake = rawParams.RawBraking;
sk398 7:f09208f9a4f7 132 // PCConn.printf("B: %f\r\n",currentBrake);
sk398 2:13a9394ba2e0 133 bool currentEngineState = rawParams.EngineState;
sk398 5:4f2a072ed289 134 rawParamsMutex.unlock();
sk398 5:4f2a072ed289 135
sk398 5:4f2a072ed289 136 #define MAX_SPEED 100
sk398 5:4f2a072ed289 137 newSpeed = currentAccelerometer*MAX_SPEED*(1-currentBrake)*currentEngineState;
sk398 2:13a9394ba2e0 138
sk398 5:4f2a072ed289 139 SpeedMutex.lock();
sk398 5:4f2a072ed289 140 if(speedParams.counter > 2)
sk398 2:13a9394ba2e0 141 {
sk398 5:4f2a072ed289 142 speedParams.counter = 0;
sk398 4:b4bcb329a930 143 }
sk398 4:b4bcb329a930 144
sk398 5:4f2a072ed289 145 speedParams.rawSpeed[speedParams.counter] = newSpeed;
sk398 5:4f2a072ed289 146 SpeedMutex.unlock();
sk398 6:572b9755f2c1 147
sk398 5:4f2a072ed289 148 speedParams.counter = speedParams.counter++;
sk398 6:572b9755f2c1 149
sk398 2:13a9394ba2e0 150 }
sk398 2:13a9394ba2e0 151
sk398 2:13a9394ba2e0 152 // ============================================================================
sk398 2:13a9394ba2e0 153 // Control System Tasks
sk398 2:13a9394ba2e0 154 // ============================================================================
sk398 2:13a9394ba2e0 155
sk398 5:4f2a072ed289 156
sk398 2:13a9394ba2e0 157 void Task1_ReadRawData(void const *arg)
sk398 2:13a9394ba2e0 158 {
sk398 7:f09208f9a4f7 159 // PCConn.printf("Task1\r\n");
sk398 2:13a9394ba2e0 160 rawParamsMutex.lock();
sk398 2:13a9394ba2e0 161 rawParams.RawBraking = Brake.read();
sk398 2:13a9394ba2e0 162 rawParams.RawAccelerometer = Accelerometer.read();
sk398 2:13a9394ba2e0 163 rawParamsMutex.unlock();
sk398 2:13a9394ba2e0 164 }
sk398 2:13a9394ba2e0 165
sk398 2:13a9394ba2e0 166
sk398 2:13a9394ba2e0 167
sk398 2:13a9394ba2e0 168 void Task2_ReadEngineState(void const *arg)
sk398 2:13a9394ba2e0 169 {
sk398 7:f09208f9a4f7 170 // PCConn.printf("Task2\r\n");
sk398 4:b4bcb329a930 171 bool currentEngineState = EngineState.read();
sk398 2:13a9394ba2e0 172 rawParamsMutex.lock();
sk398 4:b4bcb329a930 173 rawParams.EngineState = currentEngineState;
sk398 2:13a9394ba2e0 174 rawParamsMutex.unlock();
sk398 2:13a9394ba2e0 175
sk398 2:13a9394ba2e0 176 if(currentEngineState)
sk398 2:13a9394ba2e0 177 {
sk398 2:13a9394ba2e0 178 EngineStateInd = HIGH;
sk398 2:13a9394ba2e0 179 }
sk398 2:13a9394ba2e0 180 else
sk398 2:13a9394ba2e0 181 {
sk398 2:13a9394ba2e0 182 EngineStateInd = LOW;
sk398 2:13a9394ba2e0 183 }
sk398 2:13a9394ba2e0 184 }
sk398 5:4f2a072ed289 185
sk398 5:4f2a072ed289 186
sk398 2:13a9394ba2e0 187
sk398 4:b4bcb329a930 188 void Task3_CalcAvSpeed(void const *arg)
sk398 4:b4bcb329a930 189 {
sk398 7:f09208f9a4f7 190 // PCConn.printf("Task3\r\n");
sk398 4:b4bcb329a930 191 float speedTotal = 0.0;
sk398 5:4f2a072ed289 192
sk398 4:b4bcb329a930 193 for(int num = 0; num < 3; num++)
sk398 4:b4bcb329a930 194 {
sk398 5:4f2a072ed289 195 speedTotal = speedTotal + speedParams.rawSpeed[num];
sk398 7:f09208f9a4f7 196 // PCConn.printf("Total: %f\r\n",speedTotal);
sk398 4:b4bcb329a930 197 }
sk398 2:13a9394ba2e0 198
sk398 4:b4bcb329a930 199 filteredParamsMutex.lock();
sk398 4:b4bcb329a930 200 filteredParams.AverageSpeed = (speedTotal/3);
sk398 7:f09208f9a4f7 201 // PCConn.printf("Av: %f\r\n",filteredParams.AverageSpeed);
sk398 4:b4bcb329a930 202 filteredParamsMutex.unlock();
sk398 4:b4bcb329a930 203 }
sk398 4:b4bcb329a930 204
sk398 5:4f2a072ed289 205
sk398 5:4f2a072ed289 206
sk398 4:b4bcb329a930 207 void Task4_UpdateRCWiper(void const *arg)
sk398 2:13a9394ba2e0 208 {
sk398 7:f09208f9a4f7 209 // PCConn.printf("Task4\r\n");
sk398 2:13a9394ba2e0 210 filteredParamsMutex.lock();
sk398 2:13a9394ba2e0 211 float currentAverageSpeed = filteredParams.AverageSpeed;
sk398 2:13a9394ba2e0 212 filteredParamsMutex.unlock();
sk398 2:13a9394ba2e0 213
sk398 5:4f2a072ed289 214 AvSpeedWiper.pulsewidth_us(1000+(10*currentAverageSpeed));
sk398 2:13a9394ba2e0 215 }
sk398 2:13a9394ba2e0 216
sk398 0:f7d6ed1dfe3e 217
sk398 0:f7d6ed1dfe3e 218
sk398 4:b4bcb329a930 219 void Task5_OverspeedLED(void const *arg)
sk398 0:f7d6ed1dfe3e 220 {
sk398 7:f09208f9a4f7 221 // PCConn.printf("Task5\r\n");
sk398 5:4f2a072ed289 222 SpeedMutex.lock();
sk398 5:4f2a072ed289 223 float currentInstSpeed = speedParams.rawSpeed[speedParams.counter];
sk398 5:4f2a072ed289 224 SpeedMutex.unlock();
sk398 4:b4bcb329a930 225
sk398 4:b4bcb329a930 226 if(currentInstSpeed > 70.0)
sk398 4:b4bcb329a930 227 {
sk398 4:b4bcb329a930 228 OverSpeedInd = HIGH;
sk398 1:cdf851858518 229 }
sk398 1:cdf851858518 230 else
sk398 1:cdf851858518 231 {
sk398 4:b4bcb329a930 232 OverSpeedInd = LOW;
sk398 4:b4bcb329a930 233 }
sk398 4:b4bcb329a930 234
sk398 4:b4bcb329a930 235 }
sk398 4:b4bcb329a930 236
sk398 4:b4bcb329a930 237
sk398 5:4f2a072ed289 238 void Task6_UpdateOdometer(void const *arg)
sk398 6:572b9755f2c1 239 {
sk398 5:4f2a072ed289 240 filteredParamsMutex.lock();
sk398 5:4f2a072ed289 241 float currentAverageSpeed = filteredParams.AverageSpeed;
sk398 5:4f2a072ed289 242 filteredParamsMutex.unlock();
sk398 5:4f2a072ed289 243
sk398 6:572b9755f2c1 244 totalDistance = totalDistance + (currentAverageSpeed*(0.5/3600));
sk398 6:572b9755f2c1 245
sk398 5:4f2a072ed289 246 lcd -> cls();
sk398 5:4f2a072ed289 247 lcd -> locate(0,0);
sk398 5:4f2a072ed289 248 lcd -> printf("Dist: %8.2f",totalDistance);
sk398 5:4f2a072ed289 249 lcd -> locate(1,0);
sk398 5:4f2a072ed289 250 lcd -> printf("Speed: %3.1f mph",currentAverageSpeed);
sk398 5:4f2a072ed289 251 }
sk398 5:4f2a072ed289 252
sk398 5:4f2a072ed289 253
sk398 5:4f2a072ed289 254 void Task7_SendToMailQueue(void const *arg)
sk398 5:4f2a072ed289 255 {
sk398 7:f09208f9a4f7 256 filteredParamsMutex.lock();
sk398 7:f09208f9a4f7 257 float currentAverageSpeed = filteredParams.AverageSpeed;
sk398 7:f09208f9a4f7 258 filteredParamsMutex.unlock();
sk398 5:4f2a072ed289 259
sk398 7:f09208f9a4f7 260 rawParamsMutex.lock();
sk398 7:f09208f9a4f7 261 float currentAccelerometer = rawParams.RawAccelerometer;
sk398 7:f09208f9a4f7 262 float currentBrake = rawParams.RawBraking;
sk398 7:f09208f9a4f7 263 rawParamsMutex.unlock();
sk398 5:4f2a072ed289 264
sk398 7:f09208f9a4f7 265 PCDump_t *currentPCDump = Memory_Dump.alloc();
sk398 7:f09208f9a4f7 266 currentPCDump -> currentAverageSpeed = currentAverageSpeed;
sk398 7:f09208f9a4f7 267 currentPCDump -> currentAccelerometer = currentAccelerometer;
sk398 7:f09208f9a4f7 268 currentPCDump -> currentBraking = currentBrake;
sk398 7:f09208f9a4f7 269
sk398 7:f09208f9a4f7 270 Memory_Dump.put(currentPCDump);
sk398 7:f09208f9a4f7 271
sk398 7:f09208f9a4f7 272 MailMutex.lock();
sk398 7:f09208f9a4f7 273 MailQueueCounter++;
sk398 7:f09208f9a4f7 274 MailMutex.unlock();
sk398 5:4f2a072ed289 275 }
sk398 5:4f2a072ed289 276
sk398 5:4f2a072ed289 277
sk398 5:4f2a072ed289 278
sk398 5:4f2a072ed289 279 void Task8_DumpSerial(void const *arg)
sk398 5:4f2a072ed289 280 {
sk398 7:f09208f9a4f7 281 MailMutex.lock();
sk398 7:f09208f9a4f7 282 int currentQueueCounter = MailQueueCounter;
sk398 7:f09208f9a4f7 283 MailMutex.unlock();
sk398 5:4f2a072ed289 284
sk398 7:f09208f9a4f7 285 PCConn.printf("Memory Dump\r\n");
sk398 5:4f2a072ed289 286
sk398 7:f09208f9a4f7 287 for(int num = 0; num < currentQueueCounter; num++)
sk398 7:f09208f9a4f7 288 {
sk398 7:f09208f9a4f7 289 osEvent evt = Memory_Dump.get();
sk398 7:f09208f9a4f7 290 if(evt.status == osEventMail)
sk398 7:f09208f9a4f7 291 {
sk398 7:f09208f9a4f7 292 PCDump_t *currentPCDump = (PCDump_t*)evt.value.p;
sk398 7:f09208f9a4f7 293
sk398 7:f09208f9a4f7 294 PCConn.printf("Av Speed: %f\r\nAcceler: %f\r\nBrake: %f\r\n\r\n", currentPCDump -> currentAverageSpeed,
sk398 7:f09208f9a4f7 295 currentPCDump -> currentAccelerometer,
sk398 7:f09208f9a4f7 296 currentPCDump -> currentBraking);
sk398 7:f09208f9a4f7 297 Memory_Dump.free(currentPCDump);
sk398 7:f09208f9a4f7 298 }
sk398 7:f09208f9a4f7 299 }
sk398 7:f09208f9a4f7 300
sk398 7:f09208f9a4f7 301 MailMutex.lock();
sk398 7:f09208f9a4f7 302 MailQueueCounter = 0;
sk398 7:f09208f9a4f7 303 MailMutex.unlock();
sk398 5:4f2a072ed289 304 }
sk398 5:4f2a072ed289 305
sk398 5:4f2a072ed289 306
sk398 5:4f2a072ed289 307
sk398 4:b4bcb329a930 308 void Task9_ReadSideLight(void const *arg)
sk398 4:b4bcb329a930 309 {
sk398 7:f09208f9a4f7 310 // PCConn.printf("Task9\r\n");
sk398 4:b4bcb329a930 311 if(SideLightIndicator)
sk398 4:b4bcb329a930 312 {
sk398 4:b4bcb329a930 313 SideLightInd = HIGH;
sk398 4:b4bcb329a930 314 }
sk398 4:b4bcb329a930 315 else
sk398 4:b4bcb329a930 316 {
sk398 4:b4bcb329a930 317 SideLightInd = LOW;
sk398 1:cdf851858518 318 }
sk398 1:cdf851858518 319 }
sk398 0:f7d6ed1dfe3e 320
sk398 2:13a9394ba2e0 321
sk398 2:13a9394ba2e0 322
sk398 4:b4bcb329a930 323 void Task10_ReadIndicatorLights(void const *arg)
sk398 0:f7d6ed1dfe3e 324 {
sk398 7:f09208f9a4f7 325 // PCConn.printf("Task10\r\n");
sk398 1:cdf851858518 326 // Left Indicator Only
sk398 1:cdf851858518 327 if(LeftIndicator && !RightIndicator)
sk398 1:cdf851858518 328 {
sk398 2:13a9394ba2e0 329 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 330 LeftLightInd.pulsewidth(0.5);
sk398 2:13a9394ba2e0 331
sk398 2:13a9394ba2e0 332 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 333 RightLightInd.pulsewidth(0.0);
sk398 1:cdf851858518 334 }
sk398 1:cdf851858518 335
sk398 1:cdf851858518 336 // Right Indicator Only
sk398 1:cdf851858518 337 else if(!LeftIndicator && RightIndicator)
sk398 0:f7d6ed1dfe3e 338 {
sk398 2:13a9394ba2e0 339 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 340 LeftLightInd.pulsewidth(0.0);
sk398 2:13a9394ba2e0 341
sk398 2:13a9394ba2e0 342 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 343 RightLightInd.pulsewidth(0.5);
sk398 1:cdf851858518 344 }
sk398 1:cdf851858518 345
sk398 1:cdf851858518 346 // Left and Right Indicators
sk398 1:cdf851858518 347 else if(LeftIndicator && RightIndicator)
sk398 1:cdf851858518 348 {
sk398 2:13a9394ba2e0 349 LeftLightInd.period(0.5);
sk398 2:13a9394ba2e0 350 RightLightInd.period(0.5);
sk398 0:f7d6ed1dfe3e 351
sk398 2:13a9394ba2e0 352 LeftLightInd.pulsewidth(0.25);
sk398 2:13a9394ba2e0 353 RightLightInd.pulsewidth(0.25);
sk398 2:13a9394ba2e0 354 }
sk398 2:13a9394ba2e0 355
sk398 2:13a9394ba2e0 356 else
sk398 2:13a9394ba2e0 357 {
sk398 2:13a9394ba2e0 358 LeftLightInd.period(1.0);
sk398 2:13a9394ba2e0 359 LeftLightInd.pulsewidth(0.0);
sk398 2:13a9394ba2e0 360
sk398 2:13a9394ba2e0 361 RightLightInd.period(1.0);
sk398 2:13a9394ba2e0 362 RightLightInd.pulsewidth(0.0);
sk398 0:f7d6ed1dfe3e 363 }
sk398 1:cdf851858518 364 }
sk398 3:8192bbde17b3 365
sk398 3:8192bbde17b3 366
sk398 3:8192bbde17b3 367 void InitSystem()
sk398 3:8192bbde17b3 368 {
sk398 4:b4bcb329a930 369 AvSpeedWiper.period_ms(20);
sk398 4:b4bcb329a930 370
sk398 4:b4bcb329a930 371 par_port->write_bit(1,BL_BIT); // turn LCD backlight ON
sk398 3:8192bbde17b3 372
sk398 3:8192bbde17b3 373 rawParams.EngineState = 0;
sk398 3:8192bbde17b3 374 rawParams.RawAccelerometer = 0.0;
sk398 3:8192bbde17b3 375 rawParams.RawBraking = 0.0;
sk398 4:b4bcb329a930 376
sk398 5:4f2a072ed289 377 speedParams.counter = 0;
sk398 5:4f2a072ed289 378 speedParams.rawSpeed[0] = 0.0;
sk398 5:4f2a072ed289 379 speedParams.rawSpeed[1] = 0.0;
sk398 5:4f2a072ed289 380 speedParams.rawSpeed[2] = 0.0;
sk398 3:8192bbde17b3 381
sk398 3:8192bbde17b3 382 filteredParams.AverageSpeed = 0.0;
sk398 6:572b9755f2c1 383
sk398 6:572b9755f2c1 384 totalDistance = 0.0;
sk398 7:f09208f9a4f7 385
sk398 7:f09208f9a4f7 386 MailQueueCounter = 0;
sk398 4:b4bcb329a930 387 }
sk398 3:8192bbde17b3 388
sk398 3:8192bbde17b3 389
sk398 3:8192bbde17b3 390
sk398 2:13a9394ba2e0 391 // ============================================================================
sk398 2:13a9394ba2e0 392 // Entry Point Thread
sk398 2:13a9394ba2e0 393 // ============================================================================
sk398 1:cdf851858518 394
sk398 1:cdf851858518 395 int main()
sk398 1:cdf851858518 396 {
sk398 4:b4bcb329a930 397 par_port = new MCP23017(p9, p10, 0x40); // initialise 16-bit I/O chip
sk398 4:b4bcb329a930 398 lcd = new WattBob_TextLCD(par_port); // initialise 2*26 char display
sk398 4:b4bcb329a930 399
sk398 4:b4bcb329a930 400 PCConn.baud(115200);
sk398 4:b4bcb329a930 401
sk398 3:8192bbde17b3 402 InitSystem();
sk398 3:8192bbde17b3 403
sk398 4:b4bcb329a930 404 RtosTimer CarSim(CarSimulator,osTimerPeriodic);
sk398 2:13a9394ba2e0 405
sk398 4:b4bcb329a930 406 RtosTimer Task1(Task1_ReadRawData,osTimerPeriodic);
sk398 4:b4bcb329a930 407 RtosTimer Task2(Task2_ReadEngineState,osTimerPeriodic);
sk398 4:b4bcb329a930 408 RtosTimer Task3(Task3_CalcAvSpeed,osTimerPeriodic);
sk398 4:b4bcb329a930 409 RtosTimer Task4(Task4_UpdateRCWiper,osTimerPeriodic);
sk398 4:b4bcb329a930 410 RtosTimer Task5(Task5_OverspeedLED,osTimerPeriodic);
sk398 5:4f2a072ed289 411 RtosTimer Task6(Task6_UpdateOdometer,osTimerPeriodic);
sk398 5:4f2a072ed289 412 RtosTimer Task7(Task7_SendToMailQueue,osTimerPeriodic);
sk398 5:4f2a072ed289 413 RtosTimer Task8(Task8_DumpSerial,osTimerPeriodic);
sk398 4:b4bcb329a930 414 RtosTimer Task9(Task9_ReadSideLight,osTimerPeriodic);
sk398 4:b4bcb329a930 415 RtosTimer Task10(Task10_ReadIndicatorLights,osTimerPeriodic);
sk398 4:b4bcb329a930 416
sk398 5:4f2a072ed289 417 CarSim.start(50); // 20Hz
sk398 5:4f2a072ed289 418 Task1.start(100); // 10Hz
sk398 5:4f2a072ed289 419 Task2.start(500); // 2Hz
sk398 5:4f2a072ed289 420 Task3.start(200); // 5Hz
sk398 5:4f2a072ed289 421 Task4.start(1000); // 1Hz
sk398 5:4f2a072ed289 422 Task5.start(2000); // 0.5Hz
sk398 5:4f2a072ed289 423 Task6.start(500); // 2Hz
sk398 5:4f2a072ed289 424 Task7.start(5000); // 0.2Hz
sk398 5:4f2a072ed289 425 Task8.start(20000); // 0.05Hz
sk398 5:4f2a072ed289 426 Task9.start(1000); // 1Hz
sk398 5:4f2a072ed289 427 Task10.start(2000); // 0.5Hz
sk398 1:cdf851858518 428
sk398 1:cdf851858518 429 Thread::wait(osWaitForever);
sk398 1:cdf851858518 430
sk398 0:f7d6ed1dfe3e 431
sk398 0:f7d6ed1dfe3e 432 }